Georgvm/stanford-cart — reverse-engineered prompt

Build me a ROS 2 project for a closed course self driving golf cart on Stanford campus. I want to manually drive a route once, record the GPS NMEA log, send it to Modal to smooth it into a waypoints file and an HTML preview map, then copy that route to a Jetson Thor and have the cart follow it slowly.

The cart should use four USB cameras, a GPS receiver, Isaac ROS cuVSLAM, nvblox, and Nav2. It needs a safe command chain where Nav2 sends driving commands into a safety gate first, then converts them into steering, throttle, and brake commands. Steering goes to an ODrive S1 and pedals go through an Arduino Mega serial protocol.

Please include launch files, configs, scripts to record routes, upload to Modal, run the demo, and clear docs for setup. Make safety the priority, with e stop handling, run demo arming, status topics, and watchdog friendly hardware nodes. Leave clear TODOs for IMU, camera calibration, depth source, and measured cart limits.